Robot arm controlled by a Raspberry Pi

prusaprinters

<p>A set of printed components to build a robot arm that can be controlled and managed by any of the Raspberry Pi single board computers (SBCs), &nbsp;</p><p>This robot arm project with Python software and documentation, available from <a href="https://github.com/gbrickell/MeArmv0-4_robot_arm"><strong>here</strong></a><strong>,</strong> developed for the Raspberry&nbsp;Pi Maker Kit v5.0, is based upon the open hardware design by <i>phenoptix</i>&nbsp;first published in Technology&nbsp;Robots in July’14.&nbsp;</p><p>The original <i>phenoptix</i> design was for a set of laser cut components, so each item was inevitably a simple flat element made from 3mm thick acrylic sheet. These laser cut components were however converted to 3D printable components by <i>Dingo_aus</i> and posted to the ‘thingiverse’ web site in December ’14 (full details <a href="https://www.thingiverse.com/thing:616239"><strong>here</strong></a>) but they retained their ‘flat’ nature without really taking any of the advantages that 3D printing can bring to a design.</p><p>Starting from the .stl files created by <i>Dingo_aus</i>, further extensive updates and additions have been made for this revised design as well as some of the original files being ‘repaired’. Many more refinements are certainly possible with a full 3D approach now being used, and further design iterations may be made at a future date</p><p>This new build design includes a ‘normal’ plain base with built-in fittings for various battery power supply options as well as an&nbsp;optional LEGO compatible 'base' and other LEGOised components.</p><p>Detailed descriptions of all aspects of this evolving project are at <a href="https://onlinedevices.co.uk/RPi+Maker+Kit+-+MeArm+robot+arm+project"><strong>this link</strong></a><strong> </strong>and example software can be downloaded from <a href="https://github.com/gbrickell/MeArmv0-4_robot_arm"><strong>here</strong></a>.</p><p>All the components use 1.75mm PLA and a layer height of 0.15mm with print details for each component produced on an i3 Mk3 shown in the table below.</p><figure class="table"><table><tbody><tr><td><strong>component file name/description</strong></td><td style="text-align:center;width:80px;"><strong>needs support (Y/N)</strong></td><td style="text-align:center;width:60px;"><strong>brim (mm)</strong></td><td style="text-align:center;width:82px;"><strong>filament</strong><br><strong>length (m)</strong></td><td style="text-align:center;width:75px;"><strong>print time&nbsp;</strong><br><strong>(i3 Mk3)</strong></td></tr><tr><td><i>servo_arms1-3_rotx180.stl</i> - 3 servo arms labelled S1, S2 &amp; S3</td><td style="text-align:center;">N</td><td style="text-align:center;">0</td><td style="text-align:center;">1.94</td><td style="text-align:center;">44m</td></tr><tr><td><i>servo_brackets1-4_rotx180.stl</i> - 4 servo brackets labelled br1, br2, br3 &amp; br4</td><td style="text-align:center;">N</td><td style="border:1px solid rgb(191, 191, 191);padding:0.4em;text-align:center;">0</td><td style="border:1px solid rgb(191, 191, 191);padding:0.4em;text-align:center;">2.34</td><td style="border:1px solid rgb(191, 191, 191);padding:0.4em;text-align:center;">1h 0m</td></tr><tr><td><i>part_1x2_rotx180.stl</i> - 2x part 01 labelled 1-1 &amp; 1-2</td><td style="text-align:center;">N</td><td style="text-align:center;">0</td><td style="text-align:center;">1.54</td><td style="text-align:center;">34m</td></tr><tr><td><i>part_2-02_rotx180.stl</i> - part 02 labelled 2</td><td style="text-align:center;">N</td><td style="text-align:center;">0</td><td style="text-align:center;">1.64</td><td style="text-align:center;">29m</td></tr><tr><td><i>part_3_rotx180.stl</i> - part 03 labelled 3</td><td style="text-align:center;">N</td><td style="text-align:center;">0</td><td style="text-align:center;">0.95</td><td style="text-align:center;">21m</td></tr><tr><td><i>part_4_rotx180.stl</i> - part 04 labelled 4</td><td style="text-align:center;">N</td><td style="text-align:center;">0</td><td style="text-align:center;">0.85</td><td style="text-align:center;">20m</td></tr><tr><td><i>part_5_rotx180.stl</i> - part 05 labelled 5</td><td style="text-align:center;">N</td><td style="text-align:center;">0</td><td style="text-align:center;">0.27</td><td style="text-align:center;">9m</td></tr><tr><td><i>part_6_rotx180.stl </i>- part 06 labelled 6</td><td style="text-align:center;">N</td><td style="text-align:center;">0</td><td style="text-align:center;">0.97</td><td style="text-align:center;">18m</td></tr><tr><td><i>part_7_rotx180.stl</i> - part 07 labelled 7</td><td style="text-align:center;">N</td><td style="text-align:center;">0</td><td style="text-align:center;">0.95</td><td style="text-align:center;">23m</td></tr><tr><td><i>part_9_rotx180.stl</i> - part 09 labelled 9</td><td style="text-align:center;">N</td><td style="text-align:center;">0</td><td style="text-align:center;">0.44</td><td style="text-align:center;">14m</td></tr><tr><td><i>part_10-12-23-25.stl</i> - parts 10, 12, 23 &amp; 25 not labelled</td><td style="text-align:center;">N</td><td style="text-align:center;">3</td><td style="text-align:center;">0.42</td><td style="text-align:center;">13m</td></tr><tr><td><i>part_11_rotx180.stl</i> - part 11 labelled 11</td><td style="text-align:center;">N</td><td style="text-align:center;">0</td><td style="text-align:center;">0.67</td><td style="text-align:center;">18m</td></tr><tr><td><i>part_13_rotx180.stl</i> - part 13 labelled 13</td><td style="text-align:center;">N</td><td style="text-align:center;">0</td><td style="text-align:center;">0.97</td><td style="text-align:center;">21m</td></tr><tr><td><i>part_14_rotx180.stl</i> - part 14 labelled 14</td><td style="text-align:center;">N</td><td style="text-align:center;">0</td><td style="text-align:center;">0.74</td><td style="text-align:center;">16m</td></tr><tr><td><i>part_15_rotx180.stl</i> - part 15 labelled 15</td><td style="text-align:center;">N</td><td style="text-align:center;">0</td><td style="text-align:center;">0.55</td><td style="text-align:center;">14m</td></tr><tr><td><i>part_16_rotx180.stl</i> - part 16 labelled 16</td><td style="text-align:center;">N</td><td style="text-align:center;">0</td><td style="text-align:center;">0.13</td><td style="text-align:center;">8m</td></tr><tr><td><i>part_17_rotx180.stl</i> - part 17 labelled 17</td><td style="text-align:center;">N</td><td style="text-align:center;">0</td><td style="text-align:center;">0.36</td><td style="text-align:center;">11m</td></tr><tr><td><i>part_18+19_rotx180.stl</i> - parts 18 &amp; 19 labelled 18 &amp; 19</td><td style="text-align:center;">N</td><td style="text-align:center;">0</td><td style="text-align:center;">0.89</td><td style="text-align:center;">23m</td></tr><tr><td><i>part_20_rotx180.stl</i> - part 20 labelled 20</td><td style="text-align:center;">N</td><td style="text-align:center;">0</td><td style="text-align:center;">0.19</td><td style="text-align:center;">9m</td></tr><tr><td><i>part_21_rotx180.stl</i> - part 21 labelled 21</td><td style="text-align:center;">N</td><td style="text-align:center;">0</td><td style="text-align:center;">0.14</td><td style="text-align:center;">7m</td></tr><tr><td><i>part_22_rotx180.stl</i> - part 22 labelled 22</td><td style="text-align:center;">N</td><td style="text-align:center;">0</td><td style="text-align:center;">2.12</td><td style="text-align:center;">43m</td></tr><tr><td><i>part_24_rotx180.stl</i> - part 24 labelled 24</td><td style="text-align:center;">N</td><td style="text-align:center;">0</td><td style="text-align:center;">1.93</td><td style="text-align:center;">40m</td></tr><tr><td><i>part_26_LEGO_tile02.stl</i> - part 26a - LEGO tile base - not labelled</td><td style="text-align:center;">N</td><td style="text-align:center;">5</td><td style="text-align:center;">4.49</td><td style="text-align:center;">1h 57m</td></tr><tr><td><i>part_26_base02_rotz180.stl</i> - part 26b - plain base - not labelled</td><td style="text-align:center;">N</td><td style="text-align:center;">3</td><td style="text-align:center;">11.96</td><td style="text-align:center;">3h 21m</td></tr><tr><td style="border:1px solid rgb(191, 191, 191);padding:0.4em;vertical-align:top;"><i>32mm_top_open__2x_left-right_bat_holders02.stl</i>: 2x 32mm 5000mAh 5V/2A <i>battery bank</i> mounting clips</td><td style="border:1px solid rgb(191, 191, 191);padding:0.4em;text-align:center;vertical-align:top;">Y</td><td style="border:1px solid rgb(191, 191, 191);padding:0.4em;text-align:center;vertical-align:top;">0</td><td style="border:1px solid rgb(191, 191, 191);padding:0.4em;text-align:center;vertical-align:top;">2.21</td><td style="border:1px solid rgb(191, 191, 191);padding:0.4em;text-align:center;vertical-align:top;">52m</td></tr><tr><td style="border:1px solid rgb(191, 191, 191);padding:0.4em;vertical-align:top;"><i>21mm_2x_right_top_facing_battery_holder01_roty180.stl</i>: 2x 21mm 3350mAh 5V/1A&nbsp;<i>battery bank</i> mounting clips</td><td style="border:1px solid rgb(191, 191, 191);padding:0.4em;text-align:center;vertical-align:top;">N</td><td style="border:1px solid rgb(191, 191, 191);padding:0.4em;text-align:center;vertical-align:top;">0</td><td style="border:1px solid rgb(191, 191, 191);padding:0.4em;text-align:center;vertical-align:top;">1.25</td><td style="border:1px solid rgb(191, 191, 191);padding:0.4em;text-align:center;vertical-align:top;">33m</td></tr><tr><td><i>2x_battery_clamp_LEGO_tile02.stl</i> - 2x battery clamp LEGO tile - not labelled</td><td style="text-align:center;">N</td><td style="text-align:center;">3</td><td style="text-align:center;">1.97</td><td style="text-align:center;">46m</td></tr><tr><td><i>4AA_batt_box_LEGO_tile01.stl</i> - 4AA battery holder LEGO tile - not labelled</td><td style="text-align:center;">N</td><td style="text-align:center;">0</td><td style="text-align:center;">3.66</td><td style="text-align:center;">1h 11m</td></tr><tr><td><i>part_27-02_rotx180.stl</i> - part 27 labelled 27</td><td style="text-align:center;">N</td><td style="text-align:center;">0</td><td style="text-align:center;">1.96</td><td style="text-align:center;">36m</td></tr><tr><td><i>RPi_Maker_Kit_LEGO_tile02.stl</i> - RPi Maker kit LEGO tile - not labelled</td><td style="text-align:center;">N</td><td style="text-align:center;">3</td><td style="text-align:center;">6.03</td><td style="text-align:center;">2h 19m</td></tr></tbody></table></figure><p>&nbsp;</p>